The Design And Analysis On Manipulator Of The Submarine Plough Trencher

Submarine Plough Trencher is trenched for submarine oil and gas pipeline.The main exploitation of petroleum resoure has been transferred from land to sea.The machine has broad application prospects.The contents in the topic originated from CNOOC Engineering "Hard clay trench technology and equipment research" project.It's aimed to invent Submarine Plough Trencher with independent intelleetual property.This paper focuses on the design and analysis on manipulator of the experimental prototype.The manipulator plays an important role in trenching.It's prepare for the engineering sample invention.The dissertation introduces the international and domestic development of the submarine trencher.The reseaching contents of Submarine Plough Trencher is put forward.The overall design scheme of Submarine Plough Trencher is imprived.On the basis of conceptual design,the further design of manipulator is completed. It's analysed how the pipeline stress state effectd by Submarine Plough Trencher in Different working conditions.The force state of the Parts Which are important the manipulator are calculated.The strength and stiffness analysis of the Parts Which are important for the manipulator with Solidworks Simulation.These analyses can prove rationality and reliability of manipulator.After analyzing different working conditions,the main parameters of Hydraulic system are confirmed.The overall design scheme of Hydraulic system is decideed.The working principle of hydraulic system is drew.According to calculate,the main hydraulic components are selected including hydraulic cylinder,motor pump group,controlling valve,accumulator.The experimental method for the experimental prototype put forward.After well prepared, preliminary test on earth for the experimental prototype is completed.Analyzing the test results,improvement programs on appearing problems during the test are put forword.It's prepared for further test.